Large Eddy Simulation of complex sidearms subject to solar radiation and surface cooling

Large Eddy Simulation (LES) is used to model two lake sidearms subject to heating from solar radiation and cooling from a surface flux. The sidearms are part of Lake Audrey, NJ, USA and Lake Alexandrina, SA, Australia. The simulation domains are created using bathymetry data and the boundary is modelled with an Immersed Boundary Method. We investigate the cooling and heating phases with separate quasi-steady state simulations.     

Optimization of throwing motion planning for whole-body humanoid mechanism: Sidearm and maximum distance

Throwing is a rapid coordinated movement with high configuration and actuation redundancies. Based on a previous work, this paper advances a numerical framework that optimizes the throwing motions and generates the associated dynamic features for a whole-body humanoid mechanism. To generate physically feasible throwing motions in a fully predictive manner, rigorous dynamic models, such as actuation, biped balance based on Zero-Moment Point (ZMP), and ground reaction loads, are associated with the constraints. The algorithm outputs include the motion, required actuator torques, release parameters, and object projectile. Realistic human-like motions of sidearm and maximum distance throwing are generated as optimized solutions, which demonstrate valid kinematic and dynamic cause-effect relations. The sidearm throw shows better optimality than the overarm throw in terms of actuator torques under the proposed mechanical model; it is characterized by the unique hand trajectory and effective utilization of torso axial rotation. The maximum distance throw is associated with active movement of the arm and torso with larger ranges of motion; it is the release height and speed that increase accordingly.